In Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, third edition, author Jorge Angeles deals with robots-such as remote manipulators, multi-fingered hands, walking machines, flight simulators, and machine tools that rely on mechanical systems to perform their tasks. He establishes the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included.

Since publication of the previous edition, there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal -- mentioned as an open question in the previous edition). This new edition, published in 2006, has been revised and updated throughout.

Hardcover, 250 pages

Topics

Kinematics and Dynamics of Serial Manipulators with Decoupled Architectures

Trajectory Planning

Determination of the Angular Velocity and Angular Acceleration of a Rigid Body from Point Data